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add heartbeat node

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Sem van der Hoeven
2023-06-09 19:25:27 +02:00
parent 89473e4612
commit e139d111f6
1 changed files with 5 additions and 1 deletions
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6
src/api_communication/test/test_api_listener.py
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@@ -32,6 +32,8 @@ def generate_test_description():
package='px4_connection', executable='px4_controller') package='px4_connection', executable='px4_controller')
drone_status_node = launch_ros.actions.Node( drone_status_node = launch_ros.actions.Node(
package='drone_status', executable='drone_status') package='drone_status', executable='drone_status')
heartbeat_node = launch_ros.actions.Node(
package='px4_connection', executable='heartbeat')
return ( return (
launch.LaunchDescription([ launch.LaunchDescription([
@@ -41,6 +43,7 @@ def generate_test_description():
position_changer_node, position_changer_node,
px4_controller_node, px4_controller_node,
drone_status_node, drone_status_node,
heartbeat_node,
launch_testing.actions.ReadyToTest(), launch_testing.actions.ReadyToTest(),
]), ]),
{ {
@@ -49,7 +52,8 @@ def generate_test_description():
'camera_node': camera_node, 'camera_node': camera_node,
'position_changer_node': position_changer_node, 'position_changer_node': position_changer_node,
'px4_controller_node': px4_controller_node, 'px4_controller_node': px4_controller_node,
'drone_status_node': drone_status_node 'drone_status_node': drone_status_node,
'heartbeat_node': heartbeat_node
} }
) )